\section{Results}
In this section the acquired results will be presented, respectively for the two different quality measures CMCCP and Wrench Space.

\subsection{General Results}
Some results are not dependent on the specific quality measure used, but general for the used scene. Figure \ref{fig:results:dir:1} shows the overall success rate and the success rate in each of the six directions when a force of $2.5mg=9.1N$ is applied. The success rate is expected to decrease if more force is applied, and increase if less force is applied. The results in figure \ref{fig:results:dir:1} is made up of 40.000 grasps. 10.000 grasps for each of the four friction coefficients: 0.1, 0.2, 0.5 and 1.0.
\begin{figure}[H]
\centering
\includegraphics[width = 0.49\textwidth]{figures/directions.png}
\caption{The overall success rate and the success rate for the six different directions.}
\label{fig:results:dir:1}
\end{figure}

\subsection{CMCPP}
In figure \ref{fig:results:cmccp} the results for the CMCCP quality measure are shown. The figure illustrates the ability to withstand a force equal to $F=mg=3.65N$ in the six different directions. The successrate is plotted versus the quality measure, showing an approximate linear connection.
\begin{figure}[H]
\centering
\subfigure[]{\includegraphics[width = 0.7\textwidth]{figures/cmcpp3.png}\label{fig:results:cmccp:3}}
\caption{Results for the CMCCP quality meaure when $F=mg=3.65N$ is applied in the six different directions.}
\label{fig:results:cmccp}
\end{figure}

\subsection{Grasp Wrench Space}
In figure \ref{fig:results:wrench} the result of the wrench space quality measure is shown for different forces applied to the object. The default friction coefficient for the scene, $\mu = 0.2$, is used.
\begin{figure}[H]
\centering
\subfigure[Force $F=1.5mg=5.5N$ applied.]{
\includegraphics[width = 0.47\textwidth]{figures/result_mu02_15g.png}
\label{fig:results:wrench:a}
}
\subfigure[Force $F=2.0mg=7.3N$ applied.]{
\includegraphics[width = 0.47\textwidth]{figures/result_mu02_20g.png}
\label{fig:results:wrench:b}
}
\subfigure[Force $F=2.5mg=9.1N$ applied.]{
\includegraphics[width = 0.47\textwidth]{figures/result_mu02_25g.png}
\label{fig:results:wrench:c}
}
\subfigure[Force $F=3.0mg=11.0N$ applied.]{
\includegraphics[width = 0.47\textwidth]{figures/result_mu02_30g.png}
\label{fig:results:wrench:d}
}
\caption{Coefficient of Friction is $\mu = 0.2$.}
\label{fig:results:wrench}
\end{figure}
\clearpage
\subsection{Coefficient of Friction}
Figure \ref{fig:results:wrench_friction} show the result of using different friction coefficients. The applied force on the object is $F=2.5mg=9.1N$ in all measurements. Notice that figure \ref{fig:results:wrench_friction:b} is equivalent to figure \ref{fig:results:wrench:c}.
\begin{figure}[H]
\centering
\subfigure[$\mu = 0.1$.]{
\includegraphics[width = 0.47\textwidth]{figures/result_mu01_25g.png}
\label{fig:results:wrench_friction:a}
}
\subfigure[$\mu = 0.2$.]{
\includegraphics[width = 0.47\textwidth]{figures/result_mu02_25g.png}
\label{fig:results:wrench_friction:b}
}
\subfigure[$\mu = 0.5$.]{
\includegraphics[width = 0.47\textwidth]{figures/result_mu05_25g.png}
\label{fig:results:wrench_friction:c}
}
\subfigure[$\mu = 1.0$.]{
\includegraphics[width = 0.47\textwidth]{figures/result_mu10_25g.png}
\label{fig:results:wrench_friction:d}
}
\caption{Applied force is $F=2.5mg=9.1N$.}
\label{fig:results:wrench_friction}
\end{figure}